1.1k citations · 1.1k across the 6 of their papers we have counts for
6 papers
Enhancing Visual Inertial SLAM with Magnetic Measurements
Bharat Joshi, Ioannis Rekleitis
This paper presents an extension to visual inertial odometry (VIO) by introducing tightly-coupled fusion of magnetometer measurements. A sliding window of keyframes is optimized by…
Real-Time Dense 3D Mapping of Underwater Environments
Weihan Wang, Bharat Joshi, Nathaniel Burgdorfer +4
This paper addresses real-time dense 3D reconstruction for a resource-constrained Autonomous Underwater Vehicle (AUV). Underwater vision-guided operations are among the most challe…
SM/VIO: Robust Underwater State Estimation Switching Between Model-based and Visual Inertial Odometry
Bharat Joshi, Hunter Damron, Sharmin Rahman +1
This paper addresses the robustness problem of visual-inertial state estimation for underwater operations. Underwater robots operating in a challenging environment are required to…
High Definition, Inexpensive, Underwater Mapping
Bharat Joshi, Marios Xanthidis, Sharmin Rahman +1
In this paper we present a complete framework for Underwater SLAM utilizing a single inexpensive sensor. Over the recent years, imaging technology of action cameras is producing st…
DeepURL: Deep Pose Estimation Framework for Underwater Relative Localization
Bharat Joshi, Md Modasshir, Travis Manderson +5
In this paper, we propose a real-time deep learning approach for determining the 6D relative pose of Autonomous Underwater Vehicles (AUV) from a single image. A team of autonomous…
Experimental Comparison of Open Source Visual-Inertial-Based State Estimation Algorithms in the Underwater Domain
Bharat Joshi, Sharmin Rahman, Michail Kalaitzakis +8
A plethora of state estimation techniques have appeared in the last decade using visual data, and more recently with added inertial data. Datasets typically used for evaluation inc…